Workspace Boundaries of Complex Robotic Mechanisms
نویسندگان
چکیده
of Machines and Mechanisms (IFToMM'95) Milano, Italy, Aug. 29/Sept. 2, 1995 Workspace boundaries of Complex Robotic Mechanisms Viviane PASQUI and Philippe BIDAUD Laboratoire de Robotique de Paris 10-12, Avenue de l'Europe, 78 140 V elizy Villacoublay Abstract : This paper proposed a general method for the determination of the workspace boundaries of complex mechanisms. For that, the mechanism is considered as an arrangement of sub-structures (parallel and serial kinematic chains). Force and motion transmission models are compute in their symbolic form. These models are expressed in terms of screw systems. We make use of geometrical properties between screw axes to determine stationary con gurations. Those de ning the sub-structure extreme reaches are then extracted using the fact that they de ne a stable static equilibrium position of the structure. The structural decomposition is applied to obtain the complex mechanism workspace limits. As illustration a macro/mini-manipulation system is studied.
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